Dynamic coordinated control method of driving mode switch of parallel hybrid electric vehicle
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摘要: 在并联式混合动力汽车驱动模式切换过程中, 以整车动力需求转矩不发生波动与车速稳定跟随期望值为控制目标, 提出了基于车轮转速差PID控制的电机转矩补偿控制方法; 分析了模式切换时混合动力汽车动力传动系统的频域特性, 基于车轮实际转速与期望转速的差值, 通过PID闭环控制计算补偿转矩, 由永磁同步电机提供补偿转矩, 来解决模式切换时2种动力源之间的动态协调控制问题; 利用AVL Cruise和MATLAB仿真平台建立了混合动力汽车动态协调控制模型, 对转矩补偿控制方法进行仿真验证。仿真结果表明: 相比于无动态协调控制的模式切换, 采用动态协调控制方法时的总输出转矩的响应时间从0.90s降低到0.08s, 总输出转矩控制精度提高了11.1%, 跟踪期望车速的精度提高了8.0%, 整车的动力性提高了4.4%, 因此, 采用动态协调控制方法降低了并联式混合动力汽车模式切换中总输出转矩的波动, 提高了车速跟随期望值的精度, 有效保证了汽车的动力性和行驶平顺性。Abstract: In the driving mode switch of parallel hybrid electric vehicle (HEV), a control method of motor torque compensation was put forward based on the PID control of the difference of wheel angular velocity, and the control objective was that the demand torque of vehicle power did not fluctuate and vehicle speed steadily followed its expectation. The frequency-domain characteristics of HEV driveline in the mode switch were analyzed.Based on the difference between actual and expected angular velocity of wheel, the compensation torque was computed by the PID closed-loop control and provided by the permanent magnet synchronous motor (PMSM) to solve the dynamic coordinated control problem of two kinds of power sources in mode switch.A HEV dynamic coordinated control model was built by using two simulation platforms of AVL Cruise and MATLAB, and the control method was simulated and verified by using the control model.Simulation result shows that compared with the mode switch without dynamic coordinated control, when the dynamic coordinated control method is used, the response time of total output torque reduces from 0.90 s to 0.08 s, the control precision of total output torqueincreases by 11.1%, the precision of following expected speed increases by 8.0%, and vehicle's power performance increases by 4.4%.Obviously, the dynamic coordinated control method reduces the fluctuation of total output torque during HEV mode switch, improves the following precision of speed, and effectively guarantees the power performance and driving comfort of vehicle.
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